version: 66.06
glider: 139
mission: 8
dive: 270
start: 8 25 110 9 56 19
data:
$ID,139
$MISSION,8
$DIVE,270
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2156317.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,094607,2105.956,-15755.050,33,1.0,33,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.1
$GPS2,095602,2105.909,-15755.111,12,1.8,12,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,80.7,21069,-23.8,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,99,0.00,0.00,-80.12,0.000,2,0.000,0.000,426,1687,2710,0,0,0,0,0,0
$GC,104,-1.56,-58.4,3.2,-3.3,15,122,12.50,0.00,-3.05,0.000,6,0.134,0.000,2752,1686,2871,0,0,0,0,0,0
$GC,319,-1.46,-58.4,54.0,-19.9,46,321,0.15,0.00,0.00,0.000,6,0.111,0.000,2780,1687,2873,0,0,0,0,0,0
$GC,571,-1.51,-58.4,94.2,-12.0,66,575,0.00,2.35,0.00,0.000,4,0.000,0.022,2780,3112,2874,0,0,0,0,0,0
$GC,713,-1.65,-58.4,108.3,-9.9,76,719,0.15,2.40,0.00,0.000,6,0.031,0.032,2730,1699,2874,0,0,0,0,0,0
$GC,975,-1.65,-58.4,139.3,-11.8,97,982,0.00,2.30,0.00,0.000,4,0.000,0.022,2730,3113,2875,0,0,0,0,0,0
$GC,1062,-1.71,-58.4,150.3,-11.8,103,1067,0.00,2.38,0.00,0.000,6,0.000,0.031,2730,1687,2875,0,0,0,0,0,0
$GC,1330,-1.71,-58.4,185.1,-12.9,124,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1687,2875,0,0,0,0,0,0
$GC,1575,-1.71,-58.4,214.8,-11.9,140,1579,0.00,2.35,0.00,0.000,4,0.000,0.024,2730,3119,2875,0,0,0,0,0,0
$GC,1589,-1.71,-58.4,216.6,-12.3,140,1593,0.00,2.38,0.00,0.000,6,0.000,0.031,2730,1690,2875,0,0,0,0,0,0
$GC,1906,-1.71,-58.4,252.0,-11.1,155,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1690,2875,0,0,0,0,0,0
$GC,2214,-1.74,-58.4,285.0,-11.7,170,2218,0.00,2.38,0.00,0.000,4,0.000,0.048,2729,297,2875,0,0,0,0,0,0
$GC,2247,-1.74,-58.4,289.2,-13.2,171,2251,0.00,2.33,0.00,0.000,6,0.000,0.021,2729,1734,2875,0,0,0,0,0,0
$GC,2579,-1.79,-58.4,328.3,-11.4,181,2583,0.00,2.25,0.00,0.000,4,0.000,0.028,2730,3091,2874,0,0,0,0,0,0
$GC,2594,-1.86,-58.4,330.1,-11.7,181,2599,0.17,2.35,0.00,0.000,6,0.054,0.036,2678,1701,2874,0,0,0,0,0,0
$GC,2947,-1.82,-58.4,374.1,-12.6,190,2952,0.12,2.35,0.00,0.000,4,0.108,0.029,2703,3091,2872,0,0,0,0,0,0
$GC,2981,-1.88,-58.4,378.1,-10.7,190,2985,0.00,2.38,0.00,0.000,6,0.000,0.038,2702,1701,2871,0,0,0,0,0,0
$GC,3313,-1.88,-58.4,412.2,-10.2,198,3317,0.00,2.33,0.00,0.000,4,0.000,0.031,2702,3084,2869,0,0,0,0,0,0
$GC,3402,-1.94,-58.4,419.9,-8.3,200,3407,0.12,2.38,0.00,0.000,6,0.071,0.038,2665,1698,2868,0,0,0,0,0,0
$STATE,3693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3693,begin apogee
$GC,3700,-0.31,0.0,452.0,11.4,207,3753,1.77,0.00,48.72,0.828,6,0.087,0.000,3031,1698,2630,0,0,0,0,0,0
$STATE,3754,end apogee,CONTROL_FINISHED_OK
$STATE,3754,begin climb
$GC,3756,1.56,58.4,453.6,0.0,208,3817,1.75,2.42,50.70,0.812,4,0.030,0.051,3449,335,2389,0,0,0,0,0,0
$GC,3838,1.26,160.6,454.4,-1.3,209,3939,0.38,2.33,89.82,0.817,6,0.109,0.025,3378,1737,1974,0,0,0,0,0,0
$GC,4258,1.14,160.6,407.2,13.2,220,4260,0.15,0.00,0.00,0.000,6,0.112,0.000,3351,1737,1964,0,0,0,0,0,0
$GC,4584,1.07,160.6,366.9,12.8,228,4588,0.00,2.38,0.00,0.000,4,0.000,0.033,3350,3131,1961,0,0,0,0,0,0
$GC,4650,1.07,160.6,358.4,11.9,229,4655,0.00,2.42,0.00,0.000,6,0.000,0.040,3350,1739,1961,0,0,0,0,0,0
$GC,4997,1.02,160.6,313.4,12.8,238,5002,0.15,2.47,0.00,0.000,4,0.114,0.054,3322,332,1957,0,0,0,0,0,0
$GC,5097,0.95,160.6,300.5,11.7,240,5101,0.00,2.33,0.00,0.000,6,0.000,0.027,3322,1740,1952,0,0,0,0,0,0
$GC,5422,0.96,168.7,274.2,7.2,255,5427,0.00,0.00,4.05,0.486,6,0.000,0.000,3322,1740,1942,0,0,0,0,0,0
$GC,5729,1.00,168.7,250.6,8.5,270,5733,0.00,2.50,0.00,0.000,4,0.000,0.054,3322,328,1941,0,0,0,0,0,0
$GC,5895,0.95,168.7,232.9,11.2,277,5899,0.00,2.33,0.00,0.000,6,0.000,0.025,3322,1742,1939,0,0,0,0,0,0
$GC,6217,1.01,168.7,203.9,8.6,293,6221,0.00,2.47,0.00,0.000,4,0.000,0.051,3322,328,1938,0,0,0,0,0,0
$GC,6284,0.97,168.7,197.4,10.0,297,6288,0.00,2.33,0.00,0.000,6,0.000,0.024,3322,1752,1936,0,0,0,0,0,0
$GC,6550,1.03,168.7,176.8,8.0,318,6554,0.00,2.45,0.00,0.000,4,0.000,0.048,3322,331,1936,0,0,0,0,0,0
$GC,6692,1.02,181.8,165.2,6.7,328,6712,0.00,2.33,12.45,0.607,6,0.000,0.022,3322,1747,1887,0,0,0,0,0,0
$GC,6965,1.10,192.4,148.2,6.9,350,6981,0.00,2.50,10.68,0.573,4,0.000,0.046,3322,324,1844,0,0,0,0,0,0
$GC,6997,1.10,192.4,145.6,8.3,352,7001,0.00,2.35,0.00,0.000,6,0.000,0.021,3322,1749,1842,0,0,0,0,0,0
$GC,7264,1.21,206.4,128.5,6.6,373,7286,0.17,0.00,13.73,0.568,6,0.055,0.000,3372,1749,1787,0,0,0,0,0,0
$GC,7540,1.21,206.4,98.5,12.0,395,7545,0.00,2.45,0.00,0.000,4,0.000,0.046,3372,325,1786,0,0,0,0,0,0
$GC,7582,1.12,206.4,92.6,12.4,398,7587,0.12,2.30,0.00,0.000,6,0.109,0.020,3347,1750,1784,0,0,0,0,0,0
$GC,7845,1.29,246.8,72.4,4.3,418,7888,0.15,2.30,35.15,0.549,4,0.058,0.022,3392,3119,1622,0,0,0,0,0,0
$GC,7934,1.37,246.8,66.3,8.6,424,7938,0.00,2.35,0.00,0.000,6,0.000,0.031,3393,1725,1622,0,0,0,0,0,0
$GC,8200,1.37,249.3,39.0,7.7,445,8204,0.00,2.40,0.00,0.000,4,0.000,0.044,3392,330,1620,0,0,0,0,0,0
$GC,8214,1.38,258.0,37.6,7.1,446,8231,0.00,2.25,10.50,0.469,6,0.000,0.019,3393,1751,1577,0,0,0,0,0,0
$GC,8490,1.38,258.0,8.4,12.0,495,8496,0.00,2.47,0.00,0.000,4,0.000,0.046,3393,337,1575,0,0,0,0,0,0
$GC,8518,1.34,258.0,4.9,11.9,500,8524,0.00,2.25,0.00,0.000,6,0.000,0.020,3392,1751,1574,0,0,0,0,0,0
$STATE,8529,end climb,SURFACE_DEPTH_REACHED
$STATE,8530,begin surface coast
$FINISH,1.0,1.023139
$STATE,8552,end surface coast,CONTROL_FINISHED_OK
$STATE,8552,begin surface
$SM_CCo,8576,82.65,0.485,0,0,956,410.14
$SM_GC,1.65,0.00,0.00,82.65,0.000,0.000,0.485,427,1679,956,-12.30,-0.59,410.14
$IRIDIUM_FIX,2057.14,-15753.90,191199,090946
$TT8_MAMPS,0.029146
$HUMID,54.60
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,23.786
$10V_AH,10.4,19.305
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.575,85.350,275.800,82.650,0.000,54.039,67.117,285.779,4.500,0.000,12.523,978.969,5704.890,407.577,1515.140,646.349,0.000,1095.014,0.000,1494.209,0.000,29.274,0.000
$DEVICE_MAMPS,134.225,88.205,828.360,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.640,329.318,747.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,28560,507
$CAP_FILE_SIZE,100177,0
$CFSIZE,260165632,199434240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250810,122200,2105.640,-15755.016,38,1.8,43,9.8